【Unity3D】自动寻路系统Navigation实现人物上楼梯、走斜坡、攀爬、跳跃

using UnityEngine;
using System.Collections;

public class PlayerController : MonoBehaviour
{
    private NavMeshAgent agent;


    void Start()
    {
        //获取组件
        agent = GetComponent<NavMeshAgent>();
    }


    void Update()
    {
        //鼠标左键点击
        if (Input.GetMouseButtonDown(0))
        {
            //摄像机到点击位置的的射线
            Ray ray = Camera.main.ScreenPointToRay(Input.mousePosition);
            RaycastHit hit;
            if (Physics.Raycast(ray, out hit))
            {
                //判断点击的是否地形
                if (!hit.collider.name.Equals("Terrain"))
                {
                    return;
                }
                //点击位置坐标
                Vector3 point = hit.point;
                //转向
                transform.LookAt(new Vector3(point.x, transform.position.y, point.z));
                //设置寻路的目标点
                agent.SetDestination(point);
            }
        }


        //播放动画，判断是否到达了目的地，播放空闲或者跑步动画
        if (agent.remainingDistance == 0)
        {
            animation.Play("idle");
        }
        else
        {
            animation.Play("run");
        }
        
    }
}

[RequireComponent(typeof(NavMeshAgent))]
public class NavigationTest : MonoBehaviour {

    public Transform targetOne;
    public Transform targetTwo;
    public Transform targetThree;

    private NavMeshAgent navAgent;

    private float distanceOne;
    private float distanceTwo;
    // Use this for initialization
    void Start () {

        navAgent = transform.GetComponent<NavMeshAgent>();

        navAgent.SetDestination(targetOne.position);
    }

    // Update is called once per frame
    void Update () 
    {

        CheckReachTarget();
    }

    void CheckReachTarget()
    {

        distanceOne = Vector3.Distance(transform.position,targetOne.position);
        distanceTwo = Vector3.Distance(transform.position,targetTwo.position);
        if (distanceOne < 1f)
        {
            navAgent.SetDestination(targetTwo.position);
        }

        if (distanceTwo<1f)
        {
            navAgent.SetDestination(targetThree.position);
        }
    }
}

using UnityEngine;
using System.Collections;

public class Run : MonoBehaviour {

    public Transform TargetObject = null;
 
    void Start () {
        if (TargetObject != null)
        {
            GetComponent<NavMeshAgent>().destination = TargetObject.position;
        }
    } 
    void Update () {
    
    }
}

using UnityEngine;  
using System.Collections;  
  
public class AgentLocomotion : MonoBehaviour  
{  
    private Vector3 target;//目标位置  
    private NavMeshAgent agent;  
    private Animation anim;//动画  
    private string locoState = "Locomotion_Stand";  
    private Vector3 linkStart;//OffMeshLink的开始点  
    private Vector3 linkEnd;//OffMeshLink的结束点  
    private Quaternion linkRotate;//OffMeshLink的旋转  
    private bool begin;//是否开始寻路  
  
    // Use this for initialization  
    void Start()  
    {  
        agent = GetComponent<NavMeshAgent>();  
        //自动移动并关闭OffMeshLinks,即在两个隔离障碍物直接生成的OffMeshLink，agent不会自动越过  
        agent.autoTraverseOffMeshLink = false;  
        //创建动画  
        AnimationSetup();  
        //起一个协程，处理动画状态机  
        StartCoroutine(AnimationStateMachine());  
    }  
  
    void Update()  
    {  
        //鼠标左键点击  
        if (Input.GetMouseButtonDown(0))  
        {  
            //摄像机到点击位置的的射线  
            Ray ray = Camera.main.ScreenPointToRay(Input.mousePosition);  
            RaycastHit hit;  
            if (Physics.Raycast(ray, out hit))  
            {  
                //判断点击的是否地形  
                if (hit.collider.tag.Equals("Obstacle"))  
                {  
                    begin = true;  
                    //点击位置坐标  
                    target = hit.point;  
                }  
            }  
        }  
        //每一帧，设置目标点  
        if (begin)  
        {  
            agent.SetDestination(target);  
        }  
    }  
  
    IEnumerator AnimationStateMachine()  
    {  
        //根据locoState不同的状态来处理，调用相关的函数  
        while (Application.isPlaying)  
        {  
            yield return StartCoroutine(locoState);  
        }  
    }  
  
    //站立  
    IEnumerator Locomotion_Stand()  
    {  
        do  
        {  
            UpdateAnimationBlend();  
            yield return new WaitForSeconds(0);  
        } while (agent.remainingDistance == 0);  
        //未到达目标点，转到下一个状态Locomotion_Move  
        locoState = "Locomotion_Move";  
        yield return null;  
    }  
  
    IEnumerator Locomotion_Move()  
    {  
        do  
        {  
            UpdateAnimationBlend();  
            yield return new WaitForSeconds(0);  
            //角色处于OffMeshLink，根据不同的地点，选择不同动画  
            if (agent.isOnOffMeshLink)  
            {  
                locoState = SelectLinkAnimation();  
                return (true);  
            }  
        } while (agent.remainingDistance != 0);  
        //已经到达目标点，状态转为Stand  
        locoState = "Locomotion_Stand";  
        yield return null;  
    }  
  
    IEnumerator Locomotion_Jump()  
    {  
        //播放跳跃动画  
        string linkAnim = "RunJump";  
        Vector3 posStart = transform.position;  
  
        agent.Stop(true);  
        anim.CrossFade(linkAnim, 0.1f, PlayMode.StopAll);  
        transform.rotation = linkRotate;  
  
        do  
        {  
            //计算新的位置  
            float tlerp = anim[linkAnim].normalizedTime;  
            Vector3 newPos = Vector3.Lerp(posStart, linkEnd, tlerp);  
            newPos.y += 0.4f * Mathf.Sin(3.14159f * tlerp);  
            transform.position = newPos;  
  
            yield return new WaitForSeconds(0);  
        } while (anim[linkAnim].normalizedTime < 1);  
        //动画恢复到Idle  
        anim.Play("Idle");  
        agent.CompleteOffMeshLink();  
        agent.Resume();  
        //下一个状态为Stand  
        transform.position = linkEnd;  
        locoState = "Locomotion_Stand";  
        yield return null;  
    }  
    //梯子  
    IEnumerator Locomotion_Ladder()  
    {  
        //梯子的中心位置  
        Vector3 linkCenter = (linkStart + linkEnd) * 0.5f;  
        string linkAnim;  
        //判断是在梯子上还是梯子下  
        if (transform.position.y > linkCenter.y)  
            linkAnim = "Ladder Down";  
        else  
            linkAnim = "Ladder Up";  
  
        agent.Stop(true);  
  
        Quaternion startRot = transform.rotation;  
        Vector3 startPos = transform.position;  
        float blendTime = 0.2f;  
        float tblend = 0f;  
  
        //角色的位置插值变化（0.2内变化）  
        do  
        {  
            transform.position = Vector3.Lerp(startPos, linkStart, tblend / blendTime);  
            transform.rotation = Quaternion.Lerp(startRot, linkRotate, tblend / blendTime);  
  
            yield return new WaitForSeconds(0);  
            tblend += Time.deltaTime;  
        } while (tblend < blendTime);  
        //设置位置  
        transform.position = linkStart;  
        //播放动画  
        anim.CrossFade(linkAnim, 0.1f, PlayMode.StopAll);  
        agent.ActivateCurrentOffMeshLink(false);  
        //等待动画结束  
        do  
        {  
            yield return new WaitForSeconds(0);  
        } while (anim[linkAnim].normalizedTime < 1);  
        agent.ActivateCurrentOffMeshLink(true);  
        //恢复Idle状态  
        anim.Play("Idle");  
        transform.position = linkEnd;  
        agent.CompleteOffMeshLink();  
        agent.Resume();  
        //下一个状态Stand  
        locoState = "Locomotion_Stand";  
        yield return null;  
    }  
  
    private string SelectLinkAnimation()  
    {  
        //获得当前的OffMeshLink数据  
        OffMeshLinkData link = agent.currentOffMeshLinkData;  
        //计算角色当前是在link的开始点还是结束点（因为OffMeshLink是双向的）  
        float distS = (transform.position - link.startPos).magnitude;  
        float distE = (transform.position - link.endPos).magnitude;  
  
        if (distS < distE)  
        {  
            linkStart = link.startPos;  
            linkEnd = link.endPos;  
        }  
        else  
        {  
            linkStart = link.endPos;  
            linkEnd = link.startPos;  
        }  
        //OffMeshLink的方向  
        Vector3 alignDir = linkEnd - linkStart;  
        //忽略y轴  
        alignDir.y = 0;  
        //计算旋转角度  
        linkRotate = Quaternion.LookRotation(alignDir);  
  
        //判断OffMeshLink是手动的（楼梯）还是自动生成的（跳跃）  
        if (link.linkType == OffMeshLinkType.LinkTypeManual)  
        {  
            return ("Locomotion_Ladder");  
        }  
        else  
        {  
            return ("Locomotion_Jump");  
        }  
    }  
  
    private void AnimationSetup()  
    {  
        anim = GetComponent<Animation>();  
  
        // 把walk和run动画放到同一层，然后同步他们的速度。  
        anim["Walk"].layer = 1;  
        anim["Run"].layer = 1;  
        anim.SyncLayer(1);  
  
        //设置“跳跃”，“爬楼梯”，“下楼梯”的动画模式和速度  
        anim["RunJump"].wrapMode = WrapMode.ClampForever;  
        anim["RunJump"].speed = 2;  
        anim["Ladder Up"].wrapMode = WrapMode.ClampForever;  
        anim["Ladder Up"].speed = 2;  
        anim["Ladder Down"].wrapMode = WrapMode.ClampForever;  
        anim["Ladder Down"].speed = 2;  
  
        //初始化动画状态为Idle  
        anim.CrossFade("Idle", 0.1f, PlayMode.StopAll);  
    }  
    //更新动画融合  
    private void UpdateAnimationBlend()  
    {  
        //行走速度  
        float walkAnimationSpeed = 1.5f;  
        //奔跑速度  
        float runAnimationSpeed = 4.0f;  
        //速度阀值（idle和walk的临界点）  
        float speedThreshold = 0.1f;  
  
        //速度，只考虑x和z  
        Vector3 velocityXZ = new Vector3(agent.velocity.x, 0.0f, agent.velocity.z);  
        //速度值  
        float speed = velocityXZ.magnitude;  
        //设置Run动画的速度  
        anim["Run"].speed = speed / runAnimationSpeed;  
        //设置Walk动画的速度  
        anim["Walk"].speed = speed / walkAnimationSpeed;  
  
        //根据agent的速度大小，确定animation的播放状态  
        if (speed > (walkAnimationSpeed + runAnimationSpeed) / 2)  
        {  
            anim.CrossFade("Run");  
        }  
        else if (speed > speedThreshold)  
        {  
            anim.CrossFade("Walk");  
        }  
        else  
        {  
            anim.CrossFade("Idle", 0.1f, PlayMode.StopAll);  
        }  
    }  
}  

using UnityEngine;  
using System.Collections;  
  
public class PlayerController : MonoBehaviour  
{  
    private NavMeshAgent agent;  
  
    public bool setAgentWalkMask;//是否需要动态修改寻路层，在scene4的实例中要用到  
  
    void Start()  
    {  
        //获取寻路组件  
        agent = GetComponent<NavMeshAgent>();  
    }  
  
    void Update()  
    {  
        //鼠标左键点击  
        if (Input.GetMouseButtonDown(0))  
        {  
            //摄像机到点击位置的的射线  
            Ray ray = Camera.main.ScreenPointToRay(Input.mousePosition);  
            RaycastHit hit;  
            if (Physics.Raycast(ray, out hit))  
            {  
                //判断点击的是否地形  
                if (!hit.collider.tag.Equals("Plane"))  
                {  
                    return;  
                }  
                //点击位置坐标  
                Vector3 point = hit.point;  
                //转向  
                transform.LookAt(new Vector3(point.x, transform.position.y, point.z));  
                //设置寻路的目标点  
                agent.SetDestination(point);  
            }  
        }  
  
        //播放动画  
        if (agent.remainingDistance == 0)  
        {  
            animation.Play("Idle");  
        }  
        else  
        {  
            animation.Play("Run");  
        }  
          
    }  
}  

//动态设置寻路路径层  
 void OnGUI()  
   {  
       if (!setAgentWalkMask)  
       {  
           return;  
       }  
       if (GUI.Button(new Rect(0, 0, 100, 50), "走下层"))  
       {  
           agent.walkableMask = 65;  
       }  
  
       if (GUI.Button(new Rect(0, 100, 100, 50), "走上层"))  
       {  
           agent.walkableMask = 129;  
       }  
   }